Zhang F, Wang H, Tan C, et al. The distributed optimal consensus algorithms for general linear multi-agent systems[C]//2017 Chinese Automation Congress (CAC). IEEE, 2017: 3351-3354.

文章目錄

• • • • • Theorem 1
        • Theorem 2

單個智能體的動力學
$${\dot{x}}_i(t)=A{x}_i(t)+B{u}_i(t)\text{\hspace{1em}(1)}$$

單智能體的損失函數

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$N$ 個智能體
$$\dot{x}(t)=\tilde{A}x(t)+\tilde{B}u(t)\text{\hspace{1em}(3)}$$

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控制協議
$$u_i(t)=?K\sum _{j=1}^N{a}_{ij}(x_i(t)?x_j(t))$$

$$u(t)=?(L?K)x(t)$$

Theorem 1

Theorem 2

總結

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